Dynamic visibility checking for vision-based motion planning

— An important problem in position-based visual servoing (PBVS) is to guarantee that a target will remain within the field of view for the duration of the task. In this paper, we propose a dynamic visibility checking algorithm that, given a parametrized trajectory of the camera, determines if an arbitrary 3D target will remain within the field of view. We formulate the problem of determining if an image target leaves the field of view during a trajectory as a problem of determining if the 3D coordinates of the target collides with the camera frustum during the trajectory. To solve this problem, our algorithm computes the shortest distance between the target and the frustum as well as the length of the trajectory described by the target in the camera’s coordinate frame. Furthermore, we demonstrate that our algorithm can be combined with path planning algorithms and, in particular, probabilistic roadmaps (PRM). Results suggest that our algorithm is computationally efficient even ...

• Type: Conference
• Year: 2008
• Where: ICRA
• Authors: Simon Léonard, Elizabeth A. Croft, James J. Little
• Keywords: Arbitrary 3D Target, ICRA 2008, Robotics, Trajectory, Visibility Checking Algorithm